Driving device and structure

Abstract

To realize a driving device for outputting a plurality of types of power with a relatively simple structure.SOLUTION: There is provided a driving device capable of being connected to an object to be driven that is deformed on the basis of a plurality of types of power, the driving device comprising a shaft body, a plurality of power generation units mounted around the shaft body, and a connection part for connecting to the object to be driven a plurality of output parts for outputting the plurality of types of power in the plurality of power generation units. The connection part includes a fixed gripping part secured to the shaft body, a rotation gripping part rotatable with respect to the fixed gripping part, and an annular fixing part that secures the plurality of output parts in a bundling manner. The annular fixing part is located inside the rotation gripping part and is connected to an extended fixing part. The extended fixing part is provided with one or more extension parts extending outward, and the rotation gripping part is provided with one or more slit holes through which the one or more extension parts are inserted.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates primarily to a drive unit. [Background technology]

[0002] Among driving devices, there are some that output multiple powers to deform a driven object (see Patent Documents 1 to 3). Such driving devices are equipped with multiple power generating units capable of generating the multiple powers respectively, and drive the driven object in a desired manner by individually controlling the multiple power generating units. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-130101 A [Patent Document 2] JP 2023-127075 A [Patent Document 3] JP 2023-086218 A Summary of the Invention [Problem to be solved by the invention]

[0004] Since the structure of the above-mentioned drive device tends to be complicated, it is generally desired to improve it to a simpler structure, thereby making it relatively easier to handle.

[0005] An exemplary object of the present invention is to realize a drive device that outputs a plurality of power sources with a relatively simple configuration. [Means for solving the problem]

[0006] One aspect of the present invention relates to a drive device, the drive device comprising: A drive device that can be connected to a drive object that is driven based on one or more power sources, A shaft extending in a first direction; One or more power generating units each capable of generating the plurality of powers are attached around the shaft body; a connection portion for connecting one or more output portions for outputting the power in the power generating unit to the driven object, The connection portion is A fixed gripping portion that is fixed to and can be gripped by the shaft body; A rotating gripping portion that is rotatable and grippable with respect to the fixed gripping portion; an annular fixing portion that fixes the output portion of the power generating unit in a bundling manner; Including, the driven object is locked by rotating the rotary grip part while being connected to the output part, The annular fixing portion is located inside the rotating grip portion and is connected to the extended fixing portion, The extended fixing portion is provided with one or more extended portions extending outward, The rotating grip portion is provided with one or more slits through which the extension portion is inserted, so that the rotating grip portion is movable relative to the extension portion when the rotating grip portion rotates. It is characterized by: Effect of the Invention

[0007] According to the present invention, the above-mentioned drive device can be realized with a relatively simple configuration. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an overall perspective view showing a configuration example of a drive device according to an embodiment. [Diagram 2] FIG. 2 is an overall perspective view showing a configuration example of a structure. [Diagram 3] FIG. 4 is an exploded perspective view showing an example of an internal structure of a connection portion. [Figure 4] FIG. 4 is an exploded perspective view showing details of the internal structure of the connection portion. [Diagram 5] FIG. 4 is an overall perspective view showing a configuration example of a support body. [Figure 6]FIG. 2 is an overall perspective view showing a configuration example of a single power generating unit. [Figure 7] FIG. 2 is a schematic diagram showing the detailed structure of a single power generating unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the attached drawings. Note that the following embodiments do not limit the invention according to the claims. Although the embodiments describe a number of features, not all of these features are essential to the invention, and the features may be combined in any manner. Furthermore, in the attached drawings, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0010] 1 is an overall perspective view of a drive device 1 according to an embodiment. The drive device 1 includes a plurality of power generating units 2 and a structure 3 for supporting them. The drive device 1 extends in an elongated shape, and in the figure, the length direction or longitudinal direction is the X direction, the width direction or short side direction is the Y direction, and the height direction or up-down direction is the Z direction (the same applies to other figures described later). Although details will be described later, one or more (here, a plurality) of power generating units 2 are removable from the structure 3. FIG. 2 is a general perspective view of the structure 3 with some of the power generating units 2 removed.

[0011] Each of the power generating units 2 includes an electric motor 21, a motor driver 22, a power output unit 23, and an electrical connection unit 24. The power generating units 2 can individually generate one or more powers. Although details will be described later, in each power generating unit 2, the motor driver 22 controls the drive of the electric motor 21 based on the power and signals received via the electrical connection unit 24, and the power generated by the electric motor 21 is output from the power output unit 23. The power generating unit 2 may be expressed as an actuator unit or the like, or simply as an actuator, etc. The power output section 23 may be expressed simply as an output section 23.

[0012] The structure 3 includes a shaft body 31, a connection portion 32, a support body 33, and a support plate 34. In order to facilitate understanding of the structure, the connection portion 32 is not shown in FIG.

[0013] The shaft body 31 is a rod-shaped member extending in the X direction, and the power generating units 2 can be individually attached / detached around the shaft body 31. For example, each power generating unit 2 can be fixed to the shaft body 31 by one or more fixing portions 311. To stabilize the fixation of each power generating unit 2, preferably, two or more fixing parts 311 are provided on the shaft body 31, and in this embodiment, four fixing parts 311 are provided. As an example of such fixing parts, a pin, a pin hole, a screw hole, etc. are used in combination, and for example, the position of the power generating unit 2 can be aligned using the pin and / or the pin hole, and further the position of the power generating unit 2 can be determined and fixed by fastening using the screw hole. In other words, the two or more fixing parts 311 may include a fastening part such as a screw hole, and may additionally include an alignment part such as a pin or a pin hole.

[0014] 7 is a schematic diagram showing a detailed structure of the power generating unit 2. As shown in the schematic side view of FIG. 7, the power generating unit 2 includes a fixed unit 2a fixed to a shaft body 31 and a drive unit 2b capable of moving (sliding) relative to the fixed unit 2a, and the units 2a and 2b are connected as shown by the dashed lines in the figure. The electric motor 21 and the electrical connection unit 24 are installed on the fixed unit 2a side, and the power output unit 23 is installed on the drive unit 2b side. The motor driver 22 can be installed on the fixed unit 2a side, but may also be at least partially installed on the drive unit 2b side, in which case they can be electrically connected by a flexible cable installed between the units 2a and 2b.

[0015] 7, the shaft body 31 is provided with a screw hole 311a and a pin 311b as a fixing portion 311. The fixing unit 2a has a screw insertion hole H21 and a pin insertion hole H22. As a result, the fixing unit 2a can be positioned with respect to the shaft body 31 by the pin 311b, and can be fixed by a screw 9 in the screw hole 311a.

[0016] The drive unit 2b may also have an insertion hole H23 through which both the threaded portion 91 and the screw head 92 of the screw 9 can be inserted. This makes it possible to attach the power generating unit 2 with the drive unit 2b sliding relative to the fixed unit 2a so that the insertion holes H21 and H23 overlap with each other.

[0017] Referring again to FIG. 1, the connection portion 32 is used to connect one or more power output portions 23 of the power generating unit 2 to a predetermined drive target, and includes a fixed grip portion 32a and a rotating grip portion 32b.

[0018] The fixed grip portion 32a is fixed to the shaft body 31 and can be held by a user. The rotatable grip portion 32b is rotatable relative to the fixed grip portion 32a and can be held by a user. When the driven object is inserted into the connection portion 32 and connected to the drive device 1, the user can hold the fixed grip portion 32a with one hand (e.g., the left hand) and hold and rotate the rotatable grip portion 32b with the other hand (e.g., the right hand). The driven object is locked by rotating the rotatable grip portion 32b in one direction, thereby realizing the connection of the power generating unit 2 to the driven object. Moreover, the lock is released by rotating it in the opposite direction, thereby making it possible to remove the driven object. An example of the driven object is a manipulator capable of undergoing various transformations based on the power, and in the case where the driving device 1 is a medical device, a catheter or the like is included.

[0019] 3 is an exploded perspective view in which the elements / components constituting connecting portion 32 are disassembled in the X direction, showing the internal structures of fixed gripping portion 32a and rotating gripping portion 32b. Rotating gripping portion 32b contains rotating parts 32b' and 32b". Although a detailed description will be omitted here, rotating parts 32b' and 32b" form a locking mechanism for locking the driven object when rotating gripping portion 32b rotates. The connecting portion 32 further includes an annular fixing portion 32d and an extended fixing portion 32c, the annular fixing portion 32d fixing the power output portion 23 of the power generating unit 2 in a bundling manner, and the extended fixing portion 32c is located between the rotating parts 32b' and 32b".

[0020] FIG. 4 is an exploded perspective view in which some of the elements / parts are further exploded in the X direction, showing an overall perspective view of the annular fixing portion 32c between the rotating parts 32b' and 32b''. The annular fixing portion 32d fixes the power output portions 23 of the power generating units 2 so as to bundle them together, i.e., the power generating unit 2 is attached to the shaft body 31 by inserting the corresponding power output portions 23 through the annular fixing portion 32d. The annular fixing portion 32d is located inside the rotating grip portion 32b, while being fixed to the fixed grip portion 32a (and further to the shaft body 31), and its position is fixed regardless of the rotation of the rotating grip portion 32b. In this embodiment, the annular fixing portion 32d is fixed at a position where the fixed grip portion 32a and the rotating grip portion 32b partially overlap each other when viewed in the Y direction / Z direction. The annular fixing portion 32d may be a part of the fixed grip portion 32a.

[0021] The extended fixing portion 32c is connected to the annular fixing portion 32d, and here is fixed to the outer periphery of the annular fixing portion 32d. The extended fixing portion 32c is provided with one or more (here, four) extended portions 32c1 extending outward (see FIG. 4). The rotating gripping portion 32b is provided with one or more (here, four) slit holes 32b1 corresponding to the one or more extended portions 32c1, respectively (see FIG. 3), and here, the slit holes 32b1 are formed by connecting the rotating parts 32b' and 32b'' to each other.

[0022] The slits 32b1 are inserted through the corresponding extensions 32c1. When the rotating grip 32b rotates, the extensions 32c1 slide along the corresponding slits 32b1, so that the rotating grip 32b can move relative to the extensions 32c1. This configuration limits the rotation range (movable range) of the rotating grip 32b.

[0023] The support 33 is configured to be able to support the shaft body 31 together with the power generating unit 2. In this embodiment, the support 33 includes a side plate portion 33a through which the power output portion 23 of the power generating unit 2 is inserted and fixed at the opening OP, a bottom plate portion 33b to which the side plate portion 33a is fixed, and a support portion 33c to support the bottom plate portion 33b from below. The support 33 can be placed on a predetermined mounting table, a dolly, or the like, and fixed thereto. The side plate portion 33a, the bottom plate portion 33b, and the support portion 33c may be separable from each other, or may be configured as one unit.

[0024] The support plate 34 is removably fixed to the support body 33, and supports the shaft body 31 on the side opposite to the side of the multiple power output sections 23 of the multiple power generating units 2 (i.e., the side opposite to the side plate section 33a). FIG. 5 is an overall perspective view of the support body 33 from which the support plate 34 has been removed together with the multiple power generating units 2. As shown in FIG. The support plate 34 can be fixed to the support body 33 by fastening. According to such a configuration, the multiple power generating units 2 attached to the shaft body 31 can be removed together with the shaft body 31 by removing the support plate 34 from the support body 33. Note that the support plate 34 and the shaft body 31 may be disassembled from each other, or may be configured as one unit.

[0025] In such a structure, the driven object connected to the driving device 1 is driven based on a plurality of powers respectively received from a plurality of power generating units 2, and can undergo various transformations. Examples of transformations include changes in shape, orientation, and posture.

[0026] In each power generating unit 2, the power generated by the electric motor 21 based on the drive control of the motor driver 22 is transmitted to the power output section 23 and output. For example, the electric motor 21 is connected to a ball screw, and in this case, the screw shaft is rotated to reciprocate a moving body 28 screwed to the screw shaft in the X direction. With this configuration, it is possible to move the moving body 28 in the X direction and output power according to the position to deform the driven object.

[0027] 6(a) and 6(b) are overall perspective views of a single power generating unit 2. FIG. Magnets 29a and 29b are arranged in a power transmission path for transmitting the power of electric motor 21 to power output unit 23, and are connected to each other by their magnetism (see FIG. 6(a)). When a load equal to or greater than a reference value is applied to power output unit 23 (for example, when a force greater than their attractive force is applied in a direction that separates them), magnets 29a and 29b are separated (see FIG. 6(b)). With this configuration, when an unexpected load due to an external factor is applied to the driven object, magnets 29a and 29b are separated, and the output of power from electric motor 21 is cut off. In response to this, the user can take action, for example, maintenance, based on the cause of the unexpected load.

[0028] Furthermore, each of the shaft 31, the support 33 and the support plate 34 may require relatively high rigidity, and in order to avoid the influence of the magnets 29a and 29b, it is preferable to use a material that is substantially non-magnetic, such as aluminum or resin.

[0029] According to this embodiment, it is possible to realize, with a relatively simple configuration, the drive device 1 capable of individually controlling the multiple powers generated by the multiple power generating units 2. Accordingly, it is also possible to make the handling of the drive device 1, such as assembly, disassembly, maintenance, etc., relatively easy.

[0030] In the embodiments, each element is named based on its main function, but the functions described in the embodiments may be sub-functions and are not strictly limited to those expressions. Furthermore, those expressions can be replaced with similar expressions. In the same spirit, the expression "unit" can be replaced with "tool," "component," "member," "structure," "assembly," etc. Alternatively, those expressions may be omitted or added.

[0031] In addition, two or more elements exemplified as selectable in the embodiments are not strictly limited to the examples, and may be arbitrarily combined, for example, each of the two or more exemplified elements may be additionally or alternatively selected. As an example, when two elements A and B are arbitrarily combined, it may be expressed as "A and / or B" or "at least one of A and B" to indicate that it is either A only, B only, or both A and B.

[0032] Some of the features exemplified in the embodiments are as follows: [1] A drive device that can be connected to a drive object that is driven based on one or more power sources, A shaft extending in a first direction; One or more power generating units each capable of generating the plurality of powers are attached around the shaft body; a connection portion for connecting one or more output portions for outputting the power in the power generating unit to the driven object, The connection portion is A fixed gripping portion that is fixed to and can be gripped by the shaft body; A rotating gripping portion that is rotatable and grippable with respect to the fixed gripping portion; an annular fixing portion that fixes the output portion of the power generating unit in a bundling manner; Including, the driven object is locked by rotating the rotary grip part while being connected to the output part, The annular fixing portion is located inside the rotating grip portion and is connected to the extended fixing portion, The extended fixing portion is provided with one or more extended portions extending outward, The rotating grip portion is provided with one or more slits through which the extension portion is inserted, so that the rotating grip portion is movable relative to the extension portion when the rotating grip portion rotates. A drive device characterized by: [2] The power generating units are each fixed to the shaft body by one or more fixing parts and are individually removable from the shaft body. The drive device according to [1], [3] The fixing portion includes a screw hole and a pin, The power generating unit comprises: a fixing unit having a screw insertion hole and a pin insertion hole and fixed to the shaft body; A drive unit capable of moving relative to the fixed unit; Including, The fixing unit is positioned relative to the shaft body by the pin and fixed by a screw in the screw hole. The drive device according to [2], [4] The drive unit has an insertion hole through which both the threaded portion and the head of the screw can be inserted. The drive device according to [3], [5] A support; a support plate that is removably fixed to the support and supports the shaft on the side opposite to the output portion of the power generating unit, The power generating unit attached to the shaft body can be removed together with the shaft body by removing the support plate from the support body. The drive device according to [1], [6] each of the power generating units includes an electric motor; A first magnet and a second magnet are arranged in a power transmission path for transmitting the power of the electric motor to the output section and are connected to each other by their magnetism, and the first magnet and the second magnet are separated when a load equal to or greater than a reference value is applied to the output section. The drive device according to [1], [7] A structure for supporting one or more power generating units that can be connected to a drive object driven based on one or more powers and can generate the powers, a shaft extending in a first direction, the shaft being around which the power generating unit is attached; a connection portion for connecting one or more output portions for outputting the power in the power generating unit to the driven object, The connection portion is A fixed gripping portion that is fixed to and can be gripped by the shaft body; A rotating gripping portion that is rotatable and grippable with respect to the fixed gripping portion; an annular fixing portion that fixes the output portion of the power generating unit in a bundling manner; Including, the driven object is locked by rotating the rotary grip part while being connected to the output part, The annular fixing portion is located inside the rotating grip portion and is connected to the extended fixing portion, The extended fixing portion is provided with one or more extended portions extending outward, The rotating grip portion is provided with one or more slits through which the extension portion is inserted, so that the rotating grip portion is movable relative to the extension portion when the rotating grip portion rotates. A structure characterized by:

[0033] The invention is not limited to the above-described embodiments, and various modifications and variations are possible without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0034] 1: driving device, 2: power generating unit, 31: shaft body, 32: connection part, 32a: Fixed gripping part, 32b: Rotating gripping part, 32b1: Slit hole, 32c: extended fixing portion, 32c1: extended portion, 32d: annular fixing portion.

Claims

1. A drive device that can be connected to a drive object that is driven based on one or more power sources, A shaft extending in a first direction; One or more power generating units each capable of generating the plurality of powers are attached around the shaft body; a connection portion for connecting one or more output portions for outputting the power in the power generating unit to the driven object, The connection portion is A fixed gripping portion that is fixed to and can be gripped by the shaft body; A rotating gripping portion that is rotatable and grippable with respect to the fixed gripping portion; an annular fixing portion that fixes the output portion of the power generating unit in a bundling manner; Including, the driven object is locked by rotating the rotary grip part while being connected to the output part, The annular fixing portion is located inside the rotating grip portion and is connected to the extended fixing portion, The extended fixing portion is provided with one or more extended portions extending outward, The rotating grip portion is provided with one or more slits through which the extension portion is inserted, so that the rotating grip portion is movable relative to the extension portion when the rotating grip portion rotates. A drive device characterized by:

2. The power generating units are each fixed to the shaft body by one or more fixing parts and are individually removable from the shaft body.

2. The drive device according to claim 1.

3. The fixing portion includes a screw hole and a pin, The power generating unit comprises: a fixing unit having a screw insertion hole and a pin insertion hole and fixed to the shaft body; A drive unit capable of moving relative to the fixed unit; Including, The fixing unit is positioned relative to the shaft body by the pin and fixed by a screw in the screw hole.

3. The drive device according to claim 2.

4. The drive unit has an insertion hole through which both the threaded portion and the head of the screw can be inserted.

4. The drive device according to claim 3.

5. A support; a support plate that is removably fixed to the support and supports the shaft on the side opposite to the output portion of the power generating unit, The power generating unit attached to the shaft body can be removed together with the shaft body by removing the support plate from the support body.

2. The drive device according to claim 1.

6. each of the power generating units includes an electric motor; A first magnet and a second magnet are arranged in a power transmission path for transmitting the power of the electric motor to the output section and are connected to each other by their magnetism, and the first magnet and the second magnet are separated from each other when a load equal to or greater than a reference value is applied to the output section.

2. The drive device according to claim 1.

7. A structure for supporting one or more power generating units that can be connected to a drive object driven based on one or more powers and can generate the powers, a shaft extending in a first direction, the shaft being around which the power generating unit is mounted; a connection portion for connecting one or more output portions for outputting the power in the power generating unit to the driven object, The connection portion is A fixed gripping portion that is fixed to and can be gripped by the shaft body; A rotating gripping portion that is rotatable and grippable with respect to the fixed gripping portion; an annular fixing portion that fixes the output portion of the power generating unit in a bundling manner; Including, the driven object is locked by rotating the rotary grip part while being connected to the output part, The annular fixing portion is located inside the rotating grip portion and is connected to the extended fixing portion, The extended fixing portion is provided with one or more extended portions extending outward, The rotating grip portion is provided with one or more slits through which the extension portion is inserted, so that the rotating grip portion is movable relative to the extension portion when the rotating grip portion rotates. A structure characterized by:

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